Cooperative Control of Robotic Swarm Based on Self-organized Method and Human Swarm Interaction

摘要

Multi-platform cooperative system can achieve the whole task ability expansion through mutual ability complementation and action coordination. First, we identify the demands of multi-robot system application with the increasingly diverse complex tasks and highly dynamic environment. These kinds of distributed systems present novel challenges for the effective integration of human supervisors, operators, and teammates. Next, we present the control methods of swarm robotics in distributed control and decision systems. Two examples are simulated to illustrate formation obstacle avoidance and target seeking. Then, we discuss human-swarm interaction by gesture interaction with concern of the cognitive complexity. We develop a system that enables operators to control swarms effectively. Finally, we highlight remaining challenges, unanswered questions for robot swarm application, as well as how to address them in future works.